Sharp Kabushiki Kaisha Corporation

Kohhei Matsuo

Toshihisa Matsuo

Tohru Hanaoka

A cleaning robot () which is an autonomous mobile system performs coordinate conversion of three-dimensional coordinate data acquired by measurement in a distance image sensor () which is arranged in a frontward and obliquely downward direction to generate three-dimensional coordinate data of a floor surface reference. Labels are applied to this data by judging a level difference or an obstacle according to height from a floor surface (F) to create overhead view image data seen from directly above a cleaning robot main body. The overhead view image data is scanned, and only when the labels are arranged in a specific order, processing for substituting an unspecified area with a level difference is performed. Thereby, positional deviation of an edge of the level difference, which is caused by a blind spot, is corrected and a position of the level difference is able to be grasped accurately.

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Osaka, Japan

Kohhei Matsuo